CN103399683A - Electronic equipment, positioning method and positioning system - Google Patents

Abstract

Disclosed are electronic equipment, a positioning method and a positioning system. The positioning system comprises the electronic equipment and an operating bar used for operating the electronic equipment. The electronic equipment comprises a screen, three or more omnidirectional receiving antennas and a resolving module. The omnidirectional receiving antennas are mounted at different positions of the electronic equipment and are non-collinear. The resolving module is used for measuring received signal strength values of the omnidirectional receiving antennas, and positions and resolves a spatial position, relative to the electronic equipment, of the operating bar according to the received signal strength values. The operating bar comprises an omnidirectional emitting antenna fixed on the operating bar and used for emitting electromagnetic waves with constant strength. The positioning system can position the operating bar during interaction of the electronic equipment and the operating bar.

Description

A kind of electronic equipment, localization method and system

Technical field

The present invention relates to electronic applications, relate in particular to a kind of electronic equipment, localization method and system.

Background technology

Wireless sensor network (Wireless Sensor Networks, be called for short WSN) wireless network that to be a large amount of static or mobile sensor form in the mode of self-organization and multi-hop, its objective is that perception collaboratively, collection, processing and transmission network cover the monitoring information of perceptive object in geographic area, and report to the user.

Wireless sensor network node is located as one of gordian technique of radio sensing network, and the physical distance that mainly is based between anchor node and unknown node is measured, and according to certain location mechanism, determines to lay the position of other nodes in district.

In numerous distance-finding methods, the range finding of received signal strength indicator (Received Signal Strength Indicator, be called for short RSSI) model is not only without adding additional hardware equipment, and can be for multiple electromagnetic wave.Therefore its convenience, low cost and versatility have excited people's research interest.

Summary of the invention

The technical problem to be solved in the present invention is how in electronic equipment and hook stick mutual, to carry out the location of hook stick.

In order to address the above problem, the invention provides a kind of positioning system, comprising:

Electronic equipment and the hook stick for this electronic equipment is operated;

Described electronic equipment comprises: screen;

Isotropic receiving antenna more than three or three, be arranged on the diverse location of described electronic equipment; Described isotropic receiving antenna is conllinear not;

Resolve module, be used to measuring the received signal strength value of described isotropic receiving antenna, according to this received signal strength value positioning solution, calculate the locus of described hook stick with respect to described electronic equipment;

Described hook stick comprises:

Omnidirectional transmitter antenna, be fixed on this hook stick, for the constant electromagnetic wave of emissive porwer.

Alternatively, the polarization mode of described isotropic receiving antenna and omnidirectional transmitter antenna is circular polarisation.

Alternatively, the polarization mode of described isotropic receiving antenna and omnidirectional transmitter antenna is equally distributed three-dimensional line polarization in space.

Alternatively, described hook stick also comprises:

The first inertia measuring module, be used to the inertial parameter of measuring described hook stick and send to described electronic equipment by described omnidirectional transmitter antenna;

Described electronic equipment also comprises:

The second inertia measuring module, be used to measuring the inertial parameter of described electronic equipment;

The described module of resolving is calculated described hook stick according to this received signal strength value positioning solution and is referred to respect to the locus of electronic equipment:

The described module of resolving calculates attitude, speed, the positional information of hook stick and electronic equipment according to the inertial parameter of the inertial parameter of described hook stick and electronic equipment, in conjunction with described received signal strength value, by data anastomosing algorithm, calculate the locus of described hook stick with respect to electronic equipment.

Alternatively, the described module of resolving comprises:

Sampling unit, for measuring respectively the received signal strength value of described isotropic receiving antenna;

Computing unit, for the position on described electronic equipment and described received signal strength value according to described isotropic receiving antenna, adopt three limit localization methods or the described hook stick of the maximum-likelihood method positioning calculation locus with respect to described electronic equipment.

Alternatively, the described module of resolving also comprises:

Filter unit, carry out sending to described computing unit after filtering for the received signal strength value that described sampling unit is measured, and adopts following any filtering mode: mean filter, medium filtering, gaussian filtering, population filtering.

The present invention also provides a kind of localization method, for electronic equipment, the hook stick for operating electronic equipment is positioned; Described method comprises:

The constant electromagnetic wave of omnidirectional transmitter antenna emissive porwer of fixing on described hook stick;

Measure the received signal strength value of three or three the above isotropic receiving antennas of installing on described electronic equipment diverse location, according to this received signal strength value positioning solution, calculate the locus of described hook stick with respect to described electronic equipment; Described isotropic receiving antenna is conllinear not.

Alternatively, the polarization mode of described isotropic receiving antenna and omnidirectional transmitter antenna is circular polarisation.

Alternatively, the polarization mode of described isotropic receiving antenna and omnidirectional transmitter antenna is equally distributed three-dimensional line polarization in space.

Alternatively, described method also comprises:

Measure the inertial parameter of described hook stick and the inertial parameter of electronic equipment;

According to the inertial parameter of the inertial parameter of described hook stick and electronic equipment, calculate attitude, speed, the positional information of hook stick and electronic equipment, in conjunction with described received signal strength value, by data anastomosing algorithm, calculate the locus of described hook stick with respect to electronic equipment.

Alternatively, according to this received signal strength value positioning solution, calculating in the step of described hook stick with respect to the locus of described electronic equipment, is to position and resolve according to three limit localization methods or maximum-likelihood method.

Alternatively, also comprise before according to this received signal strength value positioning solution, calculating the step of described hook stick with respect to the locus of described electronic equipment:

Described received signal strength value is carried out to filtering; Adopt following any filtering mode: mean filter, medium filtering, gaussian filtering, population filtering.

The present invention also provides a kind of electronic equipment, comprising: screen;

Isotropic receiving antenna more than three or three, be arranged on the diverse location of described electronic equipment; Described isotropic receiving antenna is conllinear not;

Resolve module, be used to measuring the received signal strength value of described isotropic receiving antenna, according to this received signal strength value positioning solution, calculate the locus of signal transmitting terminal with respect to described electronic equipment.

Alternatively, the polarization mode of described isotropic receiving antenna is circular polarisation.

Alternatively, the polarization mode of described isotropic receiving antenna is equally distributed three-dimensional line polarization in space.

The present invention sets up the radio sensing network on mobile device by structure, realizes the location of pointer and dull and stereotyped relative position, the localization method that provides a kind of solid to control alternately; The technical program can be used the sensor of wifi antenna as measured node, and is with low cost, easily realizes.

The accompanying drawing explanation

Fig. 1 is the schematic diagram of the positioning system of embodiment mono-;

Fig. 2 be in embodiment mono-to received signal intensity level carry out the schematic flow sheet of mean filter;

Fig. 3 be in embodiment mono-to received signal intensity level carry out the schematic flow sheet of medium filtering;

Fig. 4 positions the schematic flow sheet that resolves in embodiment bis-.

Embodiment

Below in conjunction with drawings and Examples, technical scheme of the present invention is described in detail.

It should be noted that, if do not conflict, each feature in the embodiment of the present invention and embodiment can mutually combine, all within protection scope of the present invention.In addition, although there is shown logical order in flow process, in some cases, can carry out step shown or that describe with the order that is different from herein.

Embodiment mono-, a kind of positioning system, as shown in Figure 1, comprise electronic equipment 11 and the hook stick 12 for this electronic equipment is operated;

Described electronic equipment 11 comprises: screen;

Isotropic receiving antenna 13 more than three or three, be arranged on the diverse location of described electronic equipment 11 and conllinear not;

Resolve module, be used to the received signal strength value (being such as but not limited to the RSSI value) of measuring described isotropic receiving antenna 13, according to this received signal strength value positioning solution, calculate the locus of described hook stick 12 with respect to described electronic equipment 11;

Described hook stick 12 comprises:

Omnidirectional transmitter antenna 14, be fixed on this hook stick 12, for the constant electromagnetic wave of emissive porwer; Preferably, described electromagnetic wave is continuous wave or pulsating wave.

In the present embodiment, the omnidirectional transmitter antenna 14 on described hook stick 12 can pass through powered battery; Described omnidirectional transmitter antenna 14 can be fixed on fixing a, position that can know identification on described hook stick 12; According to the locus at this position, just can determine the locus at described hook stick 12 other positions.One fixing on described hook stick 12, position that can know identification can be, but not limited to the head into described hook stick 12, guarantees that described omnidirectional transmitter antenna 14 is in the semispace outside head, and its three-dimensional figure is near sphere.

In the present embodiment, the position of described isotropic receiving antenna 13 can be evenly distributed on the peripheral boundary on plane, screen place described in described electronic equipment 11, is such as but not limited to be distributed in as shown in Figure 1 in the middle of the left hand edge on plane, screen place, in the middle of right hand edge, in the middle of lower limb.Described isotropic receiving antenna 13 is in the semispace of electronic equipment 11 panels outside, its three-dimensional figure is near sphere, with the distance between the acknowledge(ment) signal intensity level that guarantees described isotropic receiving antenna 13 and described isotropic receiving antenna 13 and described omnidirectional transmitter antenna 14, be definite correlationship, and with the orientation-independent of described omnidirectional transmitter antenna 14.

In the present embodiment, it is a pointer that described hook stick 12 can be, but not limited to, it is that a screen is panel computer or the mobile phone of touch screen that described electronic equipment 11 can be, but not limited to, and described screen can be both be used to showing the 2D screen of two dimension (2D) plane picture, can be also be used to showing that three-dimensional (3D) stereo-picture can realize that maybe 2D/3D melts the 3D screen of demonstration altogether; The described module of resolving can be, but not limited to comprise the chip that resolves based on the location algorithm of RSSI, can be integrated in described electronic equipment 11.

In an embodiment of the present embodiment, the polarization mode of described isotropic receiving antenna 13 and omnidirectional transmitter antenna 14 is circular polarisation.

In the another kind of embodiment of the present embodiment, the polarization mode of described isotropic receiving antenna 13 and omnidirectional transmitter antenna 14 is equally distributed three-dimensional line polarization in space, can get rid of the difference impact of intensity level to received signal of polarization.

In an embodiment of the present embodiment, described isotropic receiving antenna 13 and omnidirectional transmitter antenna 14 are identical antenna, as as described in omnidirectional transmitter antenna 14 with as described in the frequency of operation of isotropic receiving antenna 13 identical, preferably antenna performance is consistent, as identical as working band, to reduce the calculated amount of positioning calculation.

In an embodiment of the present embodiment, described isotropic receiving antenna 13 can be, but not limited to the antenna into WI-FI, and frequency of operation can be, but not limited to as 2.4G or 5.8G.

In an embodiment of the present embodiment, the described module of resolving specifically can comprise:

Sampling unit, for measuring respectively the received signal strength value of each isotropic receiving antenna 13 on described electronic equipment 11;

Storage unit, be used to preserving the received signal strength value of three or three above isotropic receiving antennas;

Filter unit: for the received signal strength value that described sampling unit is measured, carry out filtering and send to computing unit, adoptable filtering algorithm has mean filter, medium filtering, gaussian filtering, population filtering etc.; During due to sampling, having larger model error problem, filtering is to be monotonic functional relationship in order to ensure the distance between received signal strength value and object under test;

Computing unit, for the position on described electronic equipment 11, described three or three filtered received signal strength values of above isotropic receiving antenna according to described isotropic receiving antenna 13, calculate the locus of described hook stick 12 with respect to described electronic equipment 11; During the computer memory position, adoptable algorithm has three limit localization methods, maximum likelihood estimation etc.

Wherein, the received signal strength value of described reference point belongs to the Default Value parameter.The position of reference point can be chosen wantonly, preferably is arranged in electronic equipment 11 Yi Cede spaces, screen place, and can be, but not limited to is to be positioned at perpendicular to described screen and by the point on the straight line of described screen center; Can be also to be positioned at perpendicular to described screen and by the point on the straight line of described screen sideline mid point; Can also be for being positioned at perpendicular to described screen and by the point on the straight line on described screen summit.

Because hook stick 12 generally is arranged in electronic equipment 11 Yi Cede spaces, screen place, the described module of resolving can also be positioned at the locus with the relative side of electronic equipment 11 screens for giving up locus that positioning solution calculates; The locus of described hook stick 12 with respect to described electronic equipment 11 can also be preserved and export to the described module of resolving.

Below illustrate filter unit intensity level two kinds of algorithms carrying out filtering to received signal.

The first is mean filter, as shown in Figure 2, comprises step 201～210.

201, system initialization, arrange the received signal strength value that the first-in first-out that a length is n (n is positive integer) (First Input First Output is called for short FIFO) array obtains for record sampling for several times before this.

202, first read n received signal strength value and also put in turn the FIFO array.

203, from isotropic receiving antenna, read a new received signal strength value.

204, establish i=1.

205, judge that i, whether less than n, if so, carry out step 206; If not carry out step 208.

206, make FIFO[i-1]=FIFO[i] (that is: top received signal strength value FIFO[0] be moved out of FIFO array).

207, i is added to 1 the result i (that is: i=i+1) after upgrading, return to step 205.

208, the received signal strength value that reads in step 203 is put into to the end (that is: put into FIFO[n-1]) of FIFO array.

209, received signal strength values all in the FIFO array is averaged; Execution step 210 is also returned to step 203 (that is: enter next time and sample).

210, the average that will try to achieve is exported as the filtered received signal strength value of current time nowRSSI.

The second is medium filtering, as shown in Figure 3, comprises step 301～311.

301, system initialization, arrange the received signal strength value that the first-in first-out that a length n is odd number (FIFO) array obtains for record sampling for several times before this.

302, first read n received signal strength value and also put in turn the FIFO array.

303, from isotropic receiving antenna, read a new received signal strength value.

304, establish i=1.

305, judge that i, whether less than n, if so, carry out step 306; If not carry out step 308.

306, make FIFO[i-1]=FIFO[i] (that is: top received signal strength value FIFO[0] be moved out of FIFO array).

307, i is added to 1 the result i (being i=i+1) after upgrading, return to step 305.

308, the received signal strength value that reads in step 303 is put into to the end (that is: put into FIFO[n-1]) of FIFO array.

309, to received signal strength value sequences (monotone increasing or decline) all in the FIFO array.

310, will be positioned at the received signal strength value of sequence middle as the filtered received signal strength value of current time nowRSSI; Execution step 310 is also returned to step 303 (that is: enter next time and sample).

311, the filtered received signal strength value of output current time nowRSSI.

Below illustrate the detailed process that computing unit carries out locus calculating.

At first, utilize respectively the received signal strength value of each isotropic receiving antenna on electronic equipment calculate omnidirectional transmitter antenna and this isotropic receiving antenna apart from dr, the mathematical model of institute's foundation is:

$P_r\left(d_r\right)=P\left(d_0\right)-10n\log \left(\frac{d_r}{d_0}\right)+X_{\mathrm{\σ}}---\left(1\right)$

In formula:

d _rRepresent isotropic receiving antenna to be determined and the actual range between omnidirectional transmitter antenna;

d ₀Represent known reference distance;

P _r(d _r) the actual received signal strength value of receiving of expression isotropic receiving antenna (through the filtered output valve of RSSI, the dBm of unit);

P(d ₀) represent to be positioned at isotropic receiving antenna apart from d when omnidirectional transmitter antenna ₀During position, the received signal strength value that isotropic receiving antenna is received (dBm of unit);

N is the fading channel index, generally gets 2～4;

X _σBe that average is zero, standard deviation is the Gaussian random variable of σ, expression measuring error (dBm of unit).

Its middle distance d _rCalculate according to the following formula:

Utilize received signal strength value range finding must know in advance reference point apart from d ₀With received signal strength value P (d ₀), and fading channel index n, these parameters are closely related with concrete hardware node and the radio signal propagation environment that uses, and need take multiple measurements and demarcate at the front simulation applied environment that dispatches from the factory, for example:

The received signal strength value P (d of reference point ₀) measurement:

At distance isotropic receiving antenna d ₀Certain point of position is upper place omnidirectional transmitter antenna (need with the practical operation rod on omnidirectional transmitter antenna identical), the omnidirectional transmitter antenna forward is aimed at isotropic receiving antenna, and with the power emission electromagnetic signal identical with emissive power, the received signal strength value of continuous coverage isotropic receiving antenna repeatedly, the received signal strength value P (d that averages as a reference point ₀);

Consider that actual antennas is not perfect omnidirectional antenna, can choose the different reference point in several positions (for example, take isotropic receiving antenna as the centre of sphere, d ₀For several points on the sphere of radius, count>=3, in twos angle (for the centre of sphere)>=30 °), measure respectively the received signal strength value of the corresponding diverse location reference point of each isotropic receiving antenna, average as with reference to apart from d ₀The time received signal strength value P (d ₀), to eliminating the not perfectly spherical impact that range finding is brought of antenna radiation pattern.Further, can make the forward of omnidirectional transmitter antenna and the forward of isotropic receiving antenna form angle (≤60 °), measure emission, the received signal strength value when receive direction has different angle, average as reference apart from d ₀The time signal intensity P (d ₀).

The measurement of fading channel index n:

Omnidirectional transmitter antenna (need be identical from the omnidirectional transmitter antenna of the actual touch-control tip of the brushstyle of a writing or painting) is the distance different apart from isotropic receiving antenna successively, the omnidirectional transmitter antenna forward is aimed at isotropic receiving antenna, with the power emission electromagnetic signal identical with emissive power, the received signal strength value of continuous coverage isotropic receiving antenna, carry out after filtering by regression model, namely following formula (1) calculates fading channel index n.

When location algorithm is chosen as the method for Based on Probability density, also need to know in advance measuring error X _σStandard deviation sigma, X _σBe that average is zero, standard deviation is the Gaussian random variable of σ, σ can be by fixed reference apart from d ₀The time, gather in a large number continuously received signal strength value P (d ₀), statistics P (d ₀) probability density function obtain.

Next according to the distance of each isotropic receiving antenna on the omnidirectional transmitter antenna that calculates and electronic equipment, by methods such as three limit localization methods, maximum-likelihood methods, determine the locus of omnidirectional transmitter antenna with respect to electronic equipment; Position due to omnidirectional transmitter antenna on hook stick is fixed, and therefore also just can determine the locus of each position of hook stick with respect to electronic equipment:

First set up as follows coordinate system: take the central point of screen as initial point O, being left x axle forward, is forward y axle forward, vertical screen is outwards z axle forward, and the coordinate of isotropic receiving antenna is respectively P1 (x1, y1, z1), P2 (x2, y2, z2) ..., Pm (xm, ym, zm), when all isotropic receiving antennas are installed in screen institute in the plane the time, z1=z2=z3=...=zm is arranged;

Adopt in the example of maximum-likelihood method (require the quantity m of isotropic receiving antenna>3), position fixing process is as follows:

If the quantity m of isotropic receiving antenna>3 (not containing 3) can adopt maximum-likelihood method to calculate the position of omnidirectional transmitter antenna:

If the individual isotropic receiving antenna of m (m>3) is arranged, with the distance of omnidirectional transmitter antenna be d1 respectively, d2, d3 ..., dm;

If the coordinate of omnidirectional transmitter antenna is (x, y, z), have

From second equation of above-mentioned system of equations, deduct successively first equation, obtain

Above-mentioned system of equations useable linear system of equations is expressed as:

Be designated as

$X=\left(\begin{array}{c}x\\ y\\ z\end{array}\right),$

$b=\left(\begin{array}{c}{x2}^2-{x1}^2+{y2}^2-{\mathrm{<figure-callout\; id="1"\; label="y"\; filenames="HDA00003585501300012.png,HDA00003585501300021.png"\; state="\{\{state\}\}">y</figure-callout>}1}^2+{z2}^2-{\mathrm{<figure-callout\; id="1"\; label="z"\; filenames="HDA00003585501300012.png,HDA00003585501300021.png"\; state="\{\{state\}\}">z</figure-callout>}1}^2+{d2}^2-{d2}^2\\ {\mathrm{xm}}^2-{x1}^2+{\mathrm{ym}}^2-{\mathrm{<figure-callout\; id="1"\; label="y"\; filenames="HDA00003585501300012.png,HDA00003585501300021.png"\; state="\{\{state\}\}">y</figure-callout>}1}^2+{\mathrm{zm}}^2-{\mathrm{<figure-callout\; id="1"\; label="z"\; filenames="HDA00003585501300012.png,HDA00003585501300021.png"\; state="\{\{state\}\}">z</figure-callout>}1}^2+{\mathrm{<figure-callout\; id="1"\; label="d"\; filenames="HDA00003585501300012.png,HDA00003585501300021.png"\; state="\{\{state\}\}">d</figure-callout>}1}^2-{\mathrm{dm}}^2\end{array}\right)$

System of equations can be expressed as AX=b;

Work as z1, z2, z3 ..., when zm does not equate entirely, i.e. z2-z1, z3-z1 ..., when zm-z1 was not zero entirely, the coordinate of omnidirectional transmitter antenna can be pressed ${(\tilde{x},\tilde{y}\tilde{z})}^T={\left(A^{T}A\right)}^{-1}{A}^{T}b$ Calculate;

When z1=z2=z3=...=zm, in above-mentioned system of equations, without the item that contains z, system of equations becomes

$X=\left(\begin{array}{c}x\\ y\end{array}\right),$

Press

Calculate the x of omnidirectional transmitter antenna coordinate, the y value, by x, first equation (x-x1) of y value generation time first system of equations ²+ (y-y1) ²+ (z-z1) ²=d1 ²Middle calculating z value, should be noted because hook stick generally is positioned at electronic equipment screen place one side, the value of z need get on the occasion of.

In the example of the weighted mass center method of employing Based on Probability density, position fixing process is as follows:

If the quantity m of isotropic receiving antenna >=3 (containing 3), the position that can adopt the weighted mass center method of Based on Probability density to calculate omnidirectional transmitter antenna:

A, selected measuring error item X _σConfidence level, determine accordingly fiducial interval, can determine fiducial interval according to the thumb rule of normal distribution: the probability that actual value is positioned at the scope of μ ± σ is 68.3%, the probability that actual value is positioned at the scope of μ ± 2 σ is 95.4%, and the probability that actual value is positioned at the scope of μ ± 3 σ is 99.7%.Measuring error item X herein _σExpectation μ=0;

B, calculate each isotropic receiving antenna measuring error item X respectively _σMinimum value and the maximal value of corresponding distance in fiducial interval: establish X _σFiducial interval be [θ, θ], between corresponding distance regions, be:

What note isotropic receiving antenna Pi (xi, yi, zi) was corresponding apart from maximal value is

Omnidirectional transmitter antenna to be positioned is positioned at centered by isotropic receiving antenna Pi, the length of side is 2di _maxThe square zone in, the coordinates table of square is shown: $\left\{\begin{array}{c}|x-\mathrm{xi}|\&le;{\mathrm{di}}_{\max }\\ |y-\mathrm{yi}|\&le;{\mathrm{di}}_{\max }\\ |z-\mathrm{zi}|\&le;{\mathrm{di}}_{\max }\end{array}\right.;$

C, the coincidence zone of calculating the square that each isotropic receiving antenna is corresponding, get the part of its z>0, and this zone is designated as cube V:

$\left\{\begin{array}{c}\underset{1\&le;i\&le;m}{\mathrm{<figure-callout\; id="1"\; label="max"\; filenames="HDA00003585501300012.png,HDA00003585501300021.png"\; state="\{\{state\}\}">max</figure-callout>}}(\mathrm{xi}-{\mathrm{di}}_{\max })\&le;x\&le;\underset{1\&le;j\&le;m}{\mathrm{<figure-callout\; id="1"\; label="min"\; filenames="HDA00003585501300012.png,HDA00003585501300021.png"\; state="\{\{state\}\}">min</figure-callout>}}(\mathrm{xj}+{\mathrm{dj}}_{\max })\\ \underset{1\&le;i\&le;m}{\mathrm{<figure-callout\; id="1"\; label="max"\; filenames="HDA00003585501300012.png,HDA00003585501300021.png"\; state="\{\{state\}\}">max</figure-callout>}}(\mathrm{yi}-{\mathrm{di}}_{\max })\&le;y\&le;\underset{1\&le;j\&le;m}{\mathrm{<figure-callout\; id="1"\; label="min"\; filenames="HDA00003585501300012.png,HDA00003585501300021.png"\; state="\{\{state\}\}">min</figure-callout>}}(\mathrm{yj}+{\mathrm{dj}}_{\max })\\ \max (\underset{1\&le;i\&le;m}{\mathrm{<figure-callout\; id="1"\; label="max"\; filenames="HDA00003585501300012.png,HDA00003585501300021.png"\; state="\{\{state\}\}">max</figure-callout>}}(\mathrm{zi}-{\mathrm{di}}_{\max }),0)\&le;z\&le;\underset{1\&le;j\&le;m}{\mathrm{<figure-callout\; id="1"\; label="min"\; filenames="HDA00003585501300012.png,HDA00003585501300021.png"\; state="\{\{state\}\}">min</figure-callout>}}(\mathrm{zj}+{\mathrm{dj}}_{\max })\end{array}\right.$

If the common factor of the square that each isotropic receiving antenna is corresponding is empty, get back to the 1st step, improve confidence level, enlarge fiducial interval, enlarge the border of each square;

D, in cube V, along the x, y, z direction, equidistantly be divided into respectively a-1, b-1, c-1 section, together with the end points of cube V, take out a*b*c net point; For example: the zone of cube V is [10 ,-8,0] * [6,12,10], want therefrom to take out equally spacedly 5*5*3 point, in the x direction take 4 as interval, the y direction take 5 as interval, the z direction is take 5 as the interval grid division, gets the intersection point (x of grid, y, z) as the data point of next step calculating, wherein x ∈ { 10 ,-6,-2,2,6}, y belongs to { 8,-3,2,7,12}, z ∈ { 0,5,10};

E, to a*b*c the point that previous step is taken out, the coordinate that note is put P (s, t, r) is (x _s, y _t, z _r) (1≤s≤a, 1≤t≤b, 1≤r≤c), respectively calculation level P (s, t, r) to each isotropic receiving antenna Pi apart from di _{(s, t, r)}:

${\mathrm{di}}_{s,\mathrm{tr}}=\sqrt{{(x_s-\mathrm{xi})}^2+{(y_t-y_i)}^2+{(z_r-\mathrm{zi})}^2}$

F, by the weights of probability density calculation level P (s, t, r)

By formula

$\tilde{w}(s,t,r)=\underset{i=1}{\overset{m}{\mathrm{\&Pi;}}}{p}_1(s,t,r)$

Calculate, in formula, ρ i (s, t, r) is in the locational probability of a P (s, t, r) for isotropic receiving antenna Pi, omnidirectional transmitter antenna, by formula

$p_i(s,t,r)=\frac{\exp [-{[P_r\left(d_i\right)-P\left(d_0\right)+10n\log \left(\frac{{\mathrm{di}}_{s,t,r}}{d_0}\right)]}^2/2{\mathrm{\&sigma;}}^2]}{\mathrm{\&sigma;}\sqrt{2\mathrm{\&pi;}}}$

Calculate d in formula ₀With P (d ₀) be respectively distance and the received signal strength value of reference point, di _{S, t, r}Be the distance of the 5th point P (s, t, r) that calculates of step to isotropic receiving antenna Pi, P _r(d _i) be the actual received signal strength value that records of isotropic receiving antenna Pi, σ is Gaussian random variable X _σThe standard deviation of (average is zero);

G, according to weights

Calculate the coordinate (x, y, z) of actual omnidirectional transmitter antenna position:

$\left\{\begin{array}{c}x=\frac{{\mathrm{\&Sigma;}}_{s=1}^a{\mathrm{\&Sigma;}}_{t=1}^b{\mathrm{\&Sigma;}}_{r=1}^c\tilde{w}(s,t,r)X_s}{{\mathrm{\&Sigma;}}_{s=1}^a{\mathrm{\&Sigma;}}_{t=1}^b{\mathrm{\&Sigma;}}_{r=1}^c\tilde{w}(s,t,r)}\\ y=\frac{{\mathrm{\&Sigma;}}_{s=1}^a{\mathrm{\&Sigma;}}_{t=1}^b{\mathrm{\&Sigma;}}_{r=1}^c\tilde{w}(s,t,r)y_t}{{\mathrm{\&Sigma;}}_{s=1}^a{\mathrm{\&Sigma;}}_{t=1}^b{\mathrm{\&Sigma;}}_{r=1}^c\tilde{w}(s,t,r)}\\ z=\frac{{\mathrm{\&Sigma;}}_{s=1}^a{\mathrm{\&Sigma;}}_{t=1}^b{\mathrm{\&Sigma;}}_{r=1}^c\tilde{w}(s,t,r)z_r}{{\mathrm{\&Sigma;}}_{s=1}^a{\mathrm{\&Sigma;}}_{t=1}^b{\mathrm{\&Sigma;}}_{r=1}^c\widetilde{w\underset{}{}(s,t,r)}}\end{array}\right.$

In an embodiment of the present embodiment, described hook stick can also comprise:

The first inertia measuring module, be used to the inertial parameter of measuring described hook stick and send to described electronic equipment by described omnidirectional transmitter antenna;

Described electronic equipment can also comprise:

The second inertia measuring module, be used to measuring the inertial parameter of described electronic equipment;

The described module of resolving is calculated described hook stick according to this received signal strength value positioning solution and can be referred to respect to the locus of electronic equipment:

The described module of resolving calculates attitude, speed, the positional information of hook stick and electronic equipment according to the inertial parameter of the inertial parameter of described hook stick and electronic equipment, in conjunction with described received signal strength value, by data anastomosing algorithm, calculate the locus of described hook stick with respect to electronic equipment.

Described the first inertia measuring module/second measurement module comprises any or its combination in any in following parts:

Gyroscope, be used to measuring the angular velocity of described hook stick;

Accelerometer, be used to measuring the acceleration of described hook stick;

Magnetometer, be used to measuring the magnetic declination of described hook stick.

Thereby, by angular velocity, the acceleration (magnetic field intensity is optional) of measuring described hook stick and electronic equipment, via attitude, navigation, calculate and can calculate both attitude, speed, positional informations separately, in conjunction with measuring the received signal strength value that obtains, by Data fusion technique, but the described hook stick of accurate Calculation is with respect to the positional information of described electronic equipment.And data anastomosing algorithm can be selected EKF (EKF), Unscented kalman filtering (UKF) etc.Below take expanded Kalman filtration algorithm as the example explanation.

Data anastomosing algorithm can be selected EKF (EKF), Unscented kalman filtering (UKF) etc.

The described hook stick of positioning calculation is as follows with respect to the object lesson of the locus of electronic equipment, take EKF (EKF) as example; The received signal strength value that the multicast antenna system records is measured to equation as the systematic survey value structure of EKF, will as the system state estimation value, build the status predication equation by speed, the position that the IMU measured value resolves out;

In actual applications, also can as the system state estimation value, build the status predication equation using by antenna system received signal strength value, resolving the position that obtains, and the IMU measured value is built to the measurement equation as the systematic survey value.

One, system initialization: electronic equipment is consistent with the sensor coordinates direction of principal axis of hook stick, and initial position is consistent, completes the initialization of each sensor;

Two, system state prediction:

2.1, from the gyroscope of electronic equipment, the angular velocity that accelerometer (magnetometer) records, attitude, speed, the positional information that acceleration (magnetic field intensity) can calculate the relative geographic reference system of electronic equipment, use

The direction cosine matrix of expression from the electronic equipment to the geographic reference system, [ax _A, ay _A, az _A] acceleration that records of the accelerometer of expression on electronic equipment, [vx _A, vy _A, vz _A] speed of expression electronic equipment relative geographic reference system, [x _A, y _A, z _A] position (coordinate) of expression electronic equipment relative geographic reference system;

2.2, from the gyroscope of hook stick, the angular velocity that accelerometer (magnetometer) records, attitude, speed, the positional information that acceleration (magnetic field intensity) can calculate the relative geographic reference system of hook stick, use The direction cosine matrix of expression from the pointer to the geographic reference system, [ax _B, ay _B, az _B] acceleration that records of the accelerometer of expression on hook stick, [vx _B, vy _B, vz _B] speed of expression hook stick relative geographic reference system, [x _B, y _B, z _B] position (coordinate) of expression hook stick relative geographic reference system;

2.3 calculate the direction cosine matrix that is tied to the electronic equipment coordinate system from the hook stick coordinate:

$C_E^A=C_n^A*C_E^n={\left(C_A^n\right)}^{-1}*C_E^n={\left(C_A^n\right)}^T*C_E^n;$

2.4 the calculating operation rod is with respect to the acceleration of electronic equipment coordinate system:

$[\mathrm{ax},\mathrm{ay},\mathrm{az}]=C_E^A*{\mathrm{ax}}_B,{\mathrm{ay}}_B,{\mathrm{az}}_B]-[{\mathrm{ax}}_A,{\mathrm{ay}}_{A,}{\mathrm{az}}_A];$

2.5 the calculating operation rod is with respect to the speed of electronic equipment coordinate system:

$[\mathrm{vx},\mathrm{vy},\mathrm{vz}]={\left(C_A^n\right)}^T*\left(\right[{\mathrm{vx}}_E,{\mathrm{vy}}_E,,{\mathrm{vz}}_E]-[{\mathrm{vx}}_{A,}{\mathrm{vy}}_A,{\mathrm{vz}}_A\left]\right);$

2.6 the calculating operation rod is with respect to the position of electronic equipment coordinate system:

$[x,y,z]={\left(C_A^n\right)}^T*\left(\right[x_E,y_E,z_E]-[x_A,y_{A,}{z}_A\left]\right);$

2.7 use X (k)=[x, y, z, vx, vy, vz] in k system state constantly ^TExpression, the system state predictive equation can be expressed as:

X(k+1)＝ΦX(k)+Ψu(k)+Γw(k)

Wherein, u (k)=[ax, ay, az] ^TFor controlled quentity controlled variable, see 2.4;

W (k) is the vector of 3*1, is the procedure activation noise of zero-mean, for the IMU reading, resolves in the physical sense the noise of the acceleration that obtains, and has covariance matrix Q (k);

Other respectively measures implication following (in following formula, T represents the sampling period):

$\mathrm{\&Phi;}=\left[\begin{array}{cc}{I}_3& T*I_3\\ O_3& I_3\end{array}\right],$ $\mathrm{\&Psi;}=\mathrm{\&Gamma;}=\left[\begin{array}{c}\frac{T^2}{2}*I_3\\ T*I_3\end{array}\right]$

2.8 at the k measured value Z (k) in the moment=[P ₁, P ₂..., P _n] ^T, in formula, Pi is the received signal strength value of i isotropic receiving antenna, the valuation of RSSI systematic survey value

Can be by the location estimate of IMU

Obtain d in following formula ₀, P (d ₀) be distance, the received signal strength value of reference point, n is the fading channel index, (x _i, y _i, z _i) be the coordinate of i isotropic receiving antenna:

Order:

Note H be h (X) to X=[x, y, z, vx, vy, vz] ^TJacobian matrix:

Measuring equation can be expressed as:

Z(k)＝h(X)+v(k)

Wherein, v (k) is the vector of m*1, is the measurement noise of zero-mean, is the noise in the signal communication process in the physical sense, has covariance matrix R (k);

2.9EKF the update all process as follows:

2.9.1 upgrade the status predication value of k+1 time:

X(k+1|k)＝ΦX(k|k)+Ψu(k)

In following formula, X (k+1|k) utilizes k state constantly to carry out the predicted value constantly to k+1, and X (k|k) is k optimal value constantly, and u (k) is k accekeration (controlled quentity controlled variable of regarding system as) constantly;

2.9.2 upgrade the covariance estimated value of predictive equation:

P(k+1|k)＝ΦP(k|k)Φ ^T+TQ(k)Γ ^T

In following formula, P (k+1|k) is the covariance matrix of X (k+1|k), and P (k|k) is the covariance matrix of X (k|k), and Q (k) is the covariance matrix of procedure activation noise;

2.9.3 upgrade k+1 kalman gain constantly:

Kg(k+1)＝P(k+1k)H(k+1) ^T[H(k+1)P(k+1|k)H(k+1) ^T+R(k)] ^-1

In following formula, Kg (k+1) is the kalman gain of k+1 time, H (k+1) be k+1 h (X) constantly to X=[x, y, z, vx, vy, vz] ^TJacobian matrix, R (k) is the covariance matrix of measuring noise;

2.9.4 upgrade the optimum estimation value of k+1 time:

X(k+1|k+1)＝X(k+1|k)+Kg(k+1)[Z(k+1)-h(X(k+1|k))]

In following formula, X (k+1|k+1) is k+1 optimal value constantly, Z (k+1) is the received signal strength value that k+1 moment isotropic receiving antenna records, h (X (k+1|k)) be according to X (k+1|k) estimate the received signal strength value, the calculating formula of h (X) is shown in 2.8;

Thereby by k+1 X (k+1|k+1)=[x, y, z, vx, vy, vz] constantly ^TX in formula, y, z obtain the locus of k+1 described hook stick of the moment with respect to electronic equipment.

2.9.5 upgrade the covariance matrix of k+1 state optimization value constantly:

P(k+1|k+1)＝(I-Kg(k+1)H(k+1))P(k+1|k)

This covariance matrix is for the k+1 renewal of system state constantly next time, and namely k returns to step 2.9.1 from increasing 1.

Embodiment bis-, a kind of localization method, position the hook stick for operating electronic equipment for electronic equipment; Described method comprises:

On described hook stick, be fixed on the constant electromagnetic wave of omnidirectional transmitter antenna emissive porwer in precalculated position; Preferably, this electromagnetic wave is continuous wave or pulsating wave;

Measure the received signal strength value of three or three the above isotropic receiving antennas of installing on described electronic equipment diverse location, according to this received signal strength value positioning solution, calculate the locus of described hook stick with respect to described electronic equipment; Described isotropic receiving antenna is conllinear not.

In an embodiment of the present embodiment, the polarization mode of described isotropic receiving antenna and omnidirectional transmitter antenna is circular polarisation.

In the another kind of embodiment of the present embodiment, the polarization mode of described isotropic receiving antenna and omnidirectional transmitter antenna is equally distributed three-dimensional line polarization in space, can get rid of the difference impact of intensity level to received signal of polarization.

In an embodiment of the present embodiment, described isotropic receiving antenna and omnidirectional transmitter antenna are identical antenna, as described in omnidirectional transmitter antenna with as described in the frequency of operation of isotropic receiving antenna identical, preferably antenna performance is consistent, as identical as working band, to reduce the calculated amount of positioning calculation.

In an embodiment of the present embodiment, described isotropic receiving antenna can be, but not limited to the antenna into WI-FI, and frequency of operation can be, but not limited to as 2.4G or 5.8G.

In an embodiment of the present embodiment, described method can also comprise:

Measure the inertial parameter of described hook stick and the inertial parameter of electronic equipment;

According to the inertial parameter of the inertial parameter of described hook stick and electronic equipment, calculate attitude, speed, the positional information of hook stick and electronic equipment, in conjunction with described received signal strength value, by data anastomosing algorithm, calculate the locus of described hook stick with respect to electronic equipment.

In an embodiment of the present embodiment, measure three or three the above isotropic receiving antennas of installing on described electronic equipment diverse location the received signal strength value step as shown in Figure 4, can comprise step 401～404.

401, measure respectively the received signal strength value of each isotropic receiving antenna on electronic equipment;

402, described received signal strength value is carried out to filtering; Adoptable filtering algorithm has mean filter, medium filtering, gaussian filtering, population filtering etc.;

403, the received signal strength value of the position on described electronic equipment, described three or three the above reference point that prestore, and filtered received signal strength value according to described isotropic receiving antenna, calculate the locus of described hook stick with respect to described electronic equipment; During the computer memory position, adoptable algorithm has three limit localization methods, maximum likelihood estimation and regional barycenter etc.

Because hook stick generally is arranged in Yi Cede space, electronic equipment screen place, after step 403, can also comprise:

404, the locus of giving up a side relative to electronic equipment screen in the locus that positioning solution calculates.

The details of concrete filtering, computer memory position can be referring to embodiment mono-.

Embodiment tri-, a kind of electronic equipment, comprising: screen;

Isotropic receiving antenna more than three or three, be arranged on the diverse location of described electronic equipment; Described isotropic receiving antenna is conllinear not;

Resolve module, be used to measuring the received signal strength value of described isotropic receiving antenna, according to this received signal strength value positioning solution, calculate the locus of signal transmitting terminal with respect to described electronic equipment.

In an embodiment of the present embodiment, the polarization mode of described isotropic receiving antenna is circular polarisation.

In the another kind of embodiment of the present embodiment, the polarization mode of described isotropic receiving antenna is equally distributed three-dimensional line polarization in space.

In an embodiment of the present embodiment, described isotropic receiving antenna can be, but not limited to the antenna into WI-FI, and frequency of operation can be, but not limited to as 2.4G or 5.8G.

Other of the present embodiment realizes that details can be with reference to embodiment mono-and various embodiment thereof.

One of ordinary skill in the art will appreciate that all or part of step in said method can come the instruction related hardware to complete by program, described program can be stored in computer-readable recording medium, as ROM (read-only memory), disk or CD etc.Alternatively, all or part of step of above-described embodiment also can realize with one or more integrated circuit.Correspondingly, each the module/unit in above-described embodiment can adopt the form of hardware to realize, also can adopt the form of software function module to realize.The present invention is not restricted to the combination of the hardware and software of any particular form.

Certainly; the present invention also can have other various embodiments; in the situation that do not deviate from spirit of the present invention and essence thereof; those of ordinary skill in the art are when making according to the present invention various corresponding changes and distortion, but these corresponding changes and distortion all should belong to the protection domain of claim of the present invention.

Claims (15)

1. positioning system comprises:

Electronic equipment and the hook stick for this electronic equipment is operated;

Described electronic equipment comprises: screen;

It is characterized in that, described electronic equipment also comprises:

Isotropic receiving antenna more than three or three, be arranged on the diverse location of described electronic equipment; Described isotropic receiving antenna is conllinear not;

Resolve module, be used to measuring the received signal strength value of described isotropic receiving antenna, according to this received signal strength value positioning solution, calculate the locus of described hook stick with respect to described electronic equipment;

Described hook stick comprises:

Omnidirectional transmitter antenna, be fixed on this hook stick, for the constant electromagnetic wave of emissive porwer.

2. the system as claimed in claim 1 is characterized in that:

The polarization mode of described isotropic receiving antenna and omnidirectional transmitter antenna is circular polarisation.

3. the system as claimed in claim 1 is characterized in that:

The polarization mode of described isotropic receiving antenna and omnidirectional transmitter antenna is equally distributed three-dimensional line polarization in space.

4. the system as claimed in claim 1, is characterized in that, described hook stick also comprises:

The first inertia measuring module, be used to the inertial parameter of measuring described hook stick and send to described electronic equipment by described omnidirectional transmitter antenna;

Described electronic equipment also comprises:

The second inertia measuring module, be used to measuring the inertial parameter of described electronic equipment;

The described module of resolving is calculated described hook stick according to this received signal strength value positioning solution and is referred to respect to the locus of electronic equipment:

The described module of resolving calculates attitude, speed, the positional information of hook stick and electronic equipment according to the inertial parameter of the inertial parameter of described hook stick and electronic equipment, in conjunction with described received signal strength value, by data anastomosing algorithm, calculate the locus of described hook stick with respect to electronic equipment.

5. system as described as any one in claim 1～4, is characterized in that, the described module of resolving comprises:

Sampling unit, for measuring respectively the received signal strength value of described isotropic receiving antenna;

Computing unit, for the position on described electronic equipment and described received signal strength value according to described isotropic receiving antenna, adopt three limit localization methods or the described hook stick of the maximum-likelihood method positioning calculation locus with respect to described electronic equipment.

6. system as described as any one in claim 1～4, is characterized in that, the described module of resolving also comprises:

Filter unit, carry out sending to described computing unit after filtering for the received signal strength value that described sampling unit is measured, and adopts following any filtering mode: mean filter, medium filtering, gaussian filtering, population filtering.

7. a localization method, position the hook stick for operating electronic equipment for electronic equipment; Described method comprises:

The constant electromagnetic wave of omnidirectional transmitter antenna emissive porwer of fixing on described hook stick;

Measure the received signal strength value of three or three the above isotropic receiving antennas of installing on described electronic equipment diverse location, according to this received signal strength value positioning solution, calculate the locus of described hook stick with respect to described electronic equipment; Described isotropic receiving antenna is conllinear not.

8. method as claimed in claim 7 is characterized in that:

The polarization mode of described isotropic receiving antenna and omnidirectional transmitter antenna is circular polarisation.

9. method as claimed in claim 7 is characterized in that:

The polarization mode of described isotropic receiving antenna and omnidirectional transmitter antenna is equally distributed three-dimensional line polarization in space.

10. method as claimed in claim 7, is characterized in that, also comprises:

Measure the inertial parameter of described hook stick and the inertial parameter of electronic equipment;

According to the inertial parameter of the inertial parameter of described hook stick and electronic equipment, calculate attitude, speed, the positional information of hook stick and electronic equipment, in conjunction with described received signal strength value, by data anastomosing algorithm, calculate the locus of described hook stick with respect to electronic equipment.

11. method as described as any one in claim 7～10 is characterized in that:

According to this received signal strength value positioning solution, calculating in the step of described hook stick with respect to the locus of described electronic equipment, is to position and resolve according to three limit localization methods or maximum-likelihood method.

12. method as claimed in claim 11, is characterized in that, also comprises before according to this received signal strength value positioning solution, calculating the step of described hook stick with respect to the locus of described electronic equipment:

Described received signal strength value is carried out to filtering; Adopt following any filtering mode: mean filter, medium filtering, gaussian filtering, population filtering.

13. an electronic equipment, comprising: screen;

It is characterized in that, also comprise:

Isotropic receiving antenna more than three or three, be arranged on the diverse location of described electronic equipment; Described isotropic receiving antenna is conllinear not;

Resolve module, be used to measuring the received signal strength value of described isotropic receiving antenna, according to this received signal strength value positioning solution, calculate the locus of signal transmitting terminal with respect to described electronic equipment.

14. electronic equipment as claimed in claim 13 is characterized in that:

The polarization mode of described isotropic receiving antenna is circular polarisation.

15. electronic equipment as claimed in claim 13 is characterized in that:

The polarization mode of described isotropic receiving antenna is equally distributed three-dimensional line polarization in space.

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